CN207074955U - A kind of new dead area compensation system based on pulse optimization - Google Patents
A kind of new dead area compensation system based on pulse optimization Download PDFInfo
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- CN207074955U CN207074955U CN201720885696.XU CN201720885696U CN207074955U CN 207074955 U CN207074955 U CN 207074955U CN 201720885696 U CN201720885696 U CN 201720885696U CN 207074955 U CN207074955 U CN 207074955U
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Abstract
The utility model discloses a kind of new dead area compensation system based on pulse optimization, solve thing problems, such as the dead time effect of three-phase voltage-type inverter causes output voltage current distortion, zero current clamp, characterized by further comprising it is dead when compensation device, compensating module and Novel Filter when compensation device includes dead when described dead；The input connection current sensor of compensation device when dead, output end connection DSP control system, described Novel Filter ensures to filter out current harmonics component and will not produce phase deviation, improves the accuracy that current polarity judges, avoids compensating by mistake.The utility model is easy and effective, and current distortion caused by can effectively reducing dead time effect simultaneously improves zero current clamp phenomenon, improves system performance；Structure is reliable, easy to realize solve the problems, such as the dynamic stability difference brought in electric automobile during traveling, improve electric automobile acceleration.
Description
Technical field
A kind of electric automobile control device is the utility model is related to, the dead band of more particularly to a kind of electric automobile inverter is mended
Repay device.
Background technology
Critical component of the inverter as Electric Vehicle's Alternating Current Drive System, its performance quality directly affect the stabilization of automobile
Property.Ideally the switching signal of the device for power switching up and down in the same bridge arm of three-phase voltage-type inverter is complementary,
But shut-off delay is opened because actual power switching device is present, in order to prevent upper and lower bridge arm from leading directly to, generally in its switch motion
Period adds one section of dead time.The presence in dead band makes to produce error between inverter output virtual voltage and target voltage, so as to
Cause machine phase voltages and phase current be distorted, the dead time effect such as zero current clamp and torque and speed ripple, make system
Performance reduces.
Dead-zone compensation method can be generally divided into two classes：Penalty method based on average voltage error and the compensation based on pulse
Method.Wherein, the former is easily achieved, but compensates not accurate enough；The latter can accurately compensate dead time, but to control chip requirement
It is higher, it is desirable to which that controller can be realized to be sampled twice in a carrier cycle.In addition, current polarity in dead-zone compensation method
Detect it is extremely important, current zero-crossing point judge inaccuracy likely result in by mistake compensate.Thus, caused by how reducing dead time effect
Current distortion, invertor operation performance is improved, control system of electric automobile is suffered from and its important meaning.
The content of the invention
The purpose of this utility model is to provide a kind of new dead area compensation system based on pulse optimization, devises one kind
Novel Filter, " dead time effect " is actively avoided, effectively filter out high fdrequency component, improve the accuracy that current polarity judges, realized
Compensate dead band purpose.
The described new dead area compensation system based on pulse optimization includes PC, dc source, three-phase bridge voltage source
Type inverter, motor, DSP control system, pulse driving device, voltage sensor, current sensor and speed probe,
Dc source is connected by three-phase bridge voltage source inverter with motor, in dc source and three-phase bridge voltage-source type
There is voltage sensor between inverter, voltage sensor is connected with control system input；In three-phase bridge voltage source inverter
It is connected with current sensor on power line between motor, motor is by encoder, speed probe by rotating speed
Signal sends control system to；Control system synthesis given rotating speed, voltage, current signal and feedback rotating speed, voltage, current signal
Space vector pulse width modulation module is input to, calculates the dutycycle of space vector modulation, pulse is exported by optical-electrical converter
Drive signal is connected to pulse driving device, pulse driving device with three-phase bridge voltage source inverter, it is characterised in that also
Including it is dead when compensation device, compensating module and Novel Filter when compensation device includes dead when described dead；Compensation device when dead
Input connection current sensor, output end connection DSP control system；
Described Novel Filter FIRωTransmission function for example following formula represent：
In formula：k rFor gain,ω cutFor cut-off frequency,ω mFor electric angular frequency, s is complex variable.
Compared with prior art, the beneficial effects of the utility model：
Novel Filter of the present utility model is filtered to the three-phase current detected, according to current space vector to electricity
Stream polarity is judged, is improved the accuracy that current polarity judges, is avoided current zero-crossing point and judge that inaccuracy will result directly in
Compensate by mistake, there is more preferable dynamic property；It is simple and reliable for structure, be easily achieved, solve electric automobile and run at a low speed what is brought
The problem of dynamic stability difference, electric automobile acceleration is improved, accuracy of detection is high and does not need extra hardware costs.
Brief description of the drawings
It is the main circuit of three-phase voltage-type inverter connection motor shown in Fig. 1.In Fig. 1, D1, D2, D3, D4, D5, D6 are
Backward dioded；V1, V2, V3, V4, V5, V6 are IGBT device, i.e. insulated gate bipolar transistor；M3 ~ it is three-phase alternating current
Motivation；i aFor A phase currents,u dcFor commutating voltage.
Fig. 2 show A phase bridge arm switching process schematic diagrams.In Fig. 2,t dFor dead time, S1, S2 are the reason of switching device
Think on-off logic, S1＇、S2＇For the actual on-off logic of switching device,u anFor desired output voltage,u an1Fori a>Reality when 0
Output voltage,u an2Fori a<Actual output voltage when 0.
Fig. 3 is sector chart where current space vector of the present utility model.In Fig. 3,A、B、CAxle is the three-phase of 120 ° of mutual deviation
Static coordinate axle,α、βAxle is two-phase static coordinate axle,u 0（000）、u 1（001）、u 2（010）、u 3（011）、u 4（100）、u 5
（101）、u 6（110）、u 7（111）For space vector of voltageu sThe on off state at place, I, II, III, IV, V, VI is electric current space
Vectori sSix regions of place plane.
Fig. 4 show Novel Filter FIRωFrequency response.In Fig. 4,ωFor response frequency,ω cutFor cut-off frequency,ω mFor electric angular frequency, ζ is damping ratio（Value 0.5）.
Fig. 5 show A phase current input and output contrast figures.
Fig. 6 show the A phase bridge arm switching process schematic diagrams after introducing compensation.
The main circuit structure block diagram of compensation system when Fig. 7 is new dead based on pulse optimization of the utility model.
In Fig. 7, U1, three-phase bridge voltage source inverter；U2, motor；U3, it is dead when compensation device；U4, DSP are controlled
System processed；U5, PC；U6, pulse driving device；U7, voltage sensor；U8, current sensor；U9, speed probe；U10、
Dc source；U11, space vector pulse width modulation module, i.e. SVPWM；U12, encoder.
Embodiment
As shown in fig. 7, the new dead area compensation system described in the utility model based on pulse optimization includes PC U5, straight
Flow power supply U10, three-phase bridge voltage source inverter U1, motor U2, DSP control system U4, pulse driving device U6, electricity
Pressure sensor U7, current sensor U8 and speed probe U9, dc source U10 pass through three-phase bridge voltage source inverter U1
It is connected with motor U2, has voltage sensor U7, voltage between dc source U10 and three-phase bridge voltage source inverter U1
Sensor U7 is connected with control system U4 inputs；Electricity between three-phase bridge voltage source inverter U1 and motor U2
Current sensor U8 is connected with the line of source, motor U2 is sent to tach signal by encoder U12, speed probe U9
Control system U4；Control system U4 synthesis rotating speed, voltage, current signal and feedback rotating speed, voltage, current signal are input to space
Vector Pulse Width Modulation module U11, the dutycycle of space vector modulation is calculated, pass through pulse driving device U6 and three-phase bridge electricity
Potential source type inverter U1 connections；Characterized by further comprising it is dead when compensation device U3, compensation device U3 includes dead when described dead
When compensating module and Novel Filter, compensation device U3 input connection current sensor U8 when dead, output end connection DSP controls
System U4 processed.
Driving motor for electric automobile main circuit is typically powered using three-phase bridge voltage source inverter, and power supply is direct current
Source.Shut-off delay is opened because actual power switching device is present, in order to prevent upper and lower bridge arm from leading directly to, generally in its switch motion
Period adds one section of dead time.The presence in dead band makes to produce error between inverter output virtual voltage and target voltage, so as to
Cause machine phase voltages and phase current be distorted, the dead time effect such as zero current clamp and torque and speed ripple.Shown in Fig. 1
The main circuit of three-phase voltage-type inverter connection motor, it is specified that electric current by inverter flow direction motor for just, otherwise is negative.
Fig. 2 show A phase bridge arm switching process waveforms.Wherein, (a) is that the preferable of power switch pipe drives A phases bridge arm up and down
Dynamic signal；(b) it is the switching tube drive signal up and down behind addition dead band；(c) it is desired output voltageu an；(d) it isi a>When 0
Actual output voltageu an1；(e) it isi a<Actual output voltage when 0u an2.From Figure 2 it can be seen that add dead timet dAfterwards, A phases are real
Border output voltage compared with desired output voltage,i a>A width is lost when 0 ist dVoltage pulse,i a<One is had more when 0
Individual width ist dVoltage pulse.In the case where switching frequency is constant, dead time is bigger, inverter actual output voltage with
Desired output voltage deviation is bigger, and dead time effect is more serious, it is therefore necessary to which dead band is compensated.
PC setting speed signal, the rotating speed size by changing setting drive the speed that motor in electric automobile rotates.Turn
The fast encoded device of sensor samples to obtain actual speed signal, and voltage sensor uses the LV28-P voltage sensors of LEM companies
Device, after level process circuit, A/D samplings, give control system and obtain current signal, current sensor is using LEM companies
LA28-NP current sensors, after level process circuit, A/D samplings, give control system and obtain current signal.
The three-phase current of collectionia、ib、iC is transformed to the current signal i under two-phase rest frame through 3s/2s coordinatesα、
iβ, the electric current under this two-phase rest frame synthesizes current space vectori s, i.e.,is=i α+ji β.Filtered by new filter
Except the sector judged after the higher hamonic wave of electric current where current space vector, you can judge the sense of current.
Fig. 3 show current space vector of the present utility modeli sPlace sector position.WhereinA、B、C axlesFor 120 ° of mutual deviation
Three phase static reference axis,α、βAxle is two-phase static coordinate axle.It is similar with space vector of voltage, pass throughi α=0,i α=1.732i β,i α=-1.732i βThree straight lines, current space vector plane is divided into six regions.Setting：
Then current space vectori sPlace sector sec (i s) determined by following formula (1)：
sec(i s)=4X+2Y+Z (1)
Wherein, X, Y, Z represent the true and false of proposition；i α、i βFor the current signal under two-phase rest frame.
Because current space vector needs to detect three-phase current polarity, i.e. zero-crossing examination.But actual control
Influenceed in system with dead band by inverter is non-linear, the electric current of sampling has (6K ± 1) *ωSubharmonic composition and switch frequency
The high-frequency noise that rate is brought, and zero current clamp phenomenon, the inaccuracy for causing current polarity to judge can be produced.So in electric current
In some region of amplitude very little, dead band can not be compensated completely, dead time effect influences still to exist, particularly underloading feelings
Influenceed under condition even more serious.Existing high-frequency noise and the influence of zero current clamp phenomenon, are improved during in order to reduce current over-zero
Current detection accuracy, realize the Optimization Compensation in dead band, it is therefore desirable to which three-phase current is filtered.Traditional filtering method can cause electric current
Signal phase deviation, a kind of Novel Filter is devised herein for this problem electric current is filtered, solve current over-zero
The problem of point sampling is brought, more accurately differentiate the sector where current space vector.
Novel Filter FIRωTransmission function for example following formula represent：
（2）
In formula：k rFor gain,ω cutFor cut-off frequency,ω mFor electric angular frequency, s is complex variable.
For the ease of analysis, FIR is madeωCut-off frequencyω cut=ζ*ω m, can according to the theory analysis of Automatic Control Theory
Know FIRωTransmission function be similar to second-order system, ζ is the damping ratio of second-order system.Fig. 4 show FIRωFrequency response, its
In corresponding cut-off frequencyω cutFor 0.5*62.8rad/s.Whenω cutWhen larger, dampingratioζ is larger, according to second-order system when
Domain characteristic understands that response speed is very fast and overshoot is smaller, and filter to output current can preferably track input current, input electricity
Harmonic components and High-frequency Interference amplitude attenuation are smaller in stream, influence filter effect；Whenω cutWhen smaller,ω=ω mFrequency range width
Value will not change with phase, and harmonic components and High-frequency Interference decay are larger, and harmonic components greatly reduce, but now damping ratio
ζ is too small, and the response speed of filter to output current becomes very slow, is difficult to track input current in the short time, thereforeω cutIt is smaller
When can still influence current polarity judgement.In summary, in order to play more preferable filter effect, it is necessary to properly chooseω cutNumber
Value, generally takes dampingratioζ=0.4~0.8 to be advisable.It can be seen from Fig. 4, FIRωPhase offset is not present in filter to output current, humorous
Wave component and high-frequency noise decay are larger, therefore the Novel Filter can filter out harmonic components and high-frequency noise well
Interference.Fig. 5 show A phase current input and output contrast figures, it can be seen that A phase currents have filtered height after Novel Filter
Frequency component, and phase offset does not occur, so as to more accurately judge current polarity.
The current space vector exported after filtering introduces new dead area compensation module, obtains inverter output voltageu an1/u an2。
Still by taking inverter A phases in Fig. 1 as an example, wheni a>When 0, if upper tube V1 drive signals S1 is height, down tube V2 drive signals
S2 is low, i.e., V1 is open-minded, V2 shut-offs, then A phases output voltageu anFor height；When S1 is changed into low, V1 shut-offs are electric by D2 afterflows, output
Pressureu anTo be low, even if now S2 is height, V2 still can not be opened.As can be seen here, wheni a>When 0, A phase output voltagesu anOnly by upper
Pipe drive signal S1 determines that now upper bridge arm is controlled bridge arm, and lower bridge arm is not control bridge arm.Similarly, wheni a<When 0, A phases export
Voltageu anOnly determined by down tube drive signal S2, bridge arm is controlled bridge arm at present for this, and upper bridge arm is not control bridge arm.
Analyzed based on more than, wheni a>When 0, holding upper tube V1 drive signals are constant, and down tube V2 shifts to an earlier date tdTurn off and postponet d
It is open-minded；Wheni a<When 0, keep V2 drive signals constant, V1 delayst dOpen and shift to an earlier datet dShut-off, you can make inverter reality output
Voltage is consistent with desired output voltage.
Fig. 6 show the A phase bridge arm switching process waveforms after introducing compensation.Wherein, (a) is that A phases bridge arm up and down open by power
Close the desired driver signals of pipe；(b) it isi a>Dead area compensation principle when 0；(c) it isi a<Dead area compensation principle when 0；(d) it is reason
Think output voltageu an, (e) be using this dead-zone compensation method after,i a>Actual output voltage when 0u an1Withi a<Reality when 0
Output voltageu an2.As seen from Figure 5, after using above-mentioned dead-zone compensation method, actual output voltageu an1 \u an2With ideal output electricity
Pressureu anUnanimously, i.e., voltage deviation is zero, so as to avoid the influence that dead time effect is brought to output voltage.
Willi a>Actual output voltage when 0u an1Withi a<Actual output voltage when 0u an2It is input to space vector pulse width tune
Molding block U11, six road pulse signals are obtained, are input to pulse driving device U6, so as to control three-phase bridge voltage-source type inversion
Power device opens shut-off in device U1, obtains the operation that three-phase output voltage carrys out motor U1.
Current space vector place sector is periodically judged to compensate the voltage deviation that Inverter Dead-time effect is brought so that
The rounded track of inverter output voltage, ensure that motor U1 operations are more smooth, improve the sine degree of output current.
Operation principle：
Current sensor U8 gathers three-phase currenti a、i b、i c, the electricity under two-phase rest frame is transformed to through 3s/2s coordinates
Flow signali α、i β, because design Novel Filter is filtered to the three-phase current detected, improve the standard that current polarity judges
True property, now the electric current under two-phase rest frame synthesize current space vectori s, i.e.,i s=i α+ji β。
Compensation device U3 uses programmable logic cells when dead, can be in a sampling by concurrent operation combination formula (1)
CycleT sInside quick and precisely judge current space vectori sThe sector at place, preferable magnitude of voltage is then exported according to Fig. 6u an。
Control system U4 is by the voltage after compensationu an1/ u an2Space vector pulse width modulation module U11 is input to, obtains six
Road pulse signal, pulse driving device U6 is input to, so as to control power device in three-phase bridge voltage source inverter U1
Shut-off is opened, obtains the operation that three-phase output voltage carrys out motor U1 so that the rounded track of grid-connected inverters voltage, simultaneously
The sine degree of output current is improved, effectively reduces voltage distortion rate, the influence for avoiding dead time effect from bringing.
Claims (1)
1. a kind of new dead area compensation system based on pulse optimization, including PC, dc source, three-phase bridge voltage-source type are inverse
Become device, motor, DSP control system U4, pulse driving device, voltage sensor, current sensor U8 and speed probe,
Dc source is connected by three-phase bridge voltage source inverter with motor, in dc source and three-phase bridge voltage-source type
There is voltage sensor between inverter, voltage sensor is connected with control system input；In three-phase bridge voltage source inverter
Current sensor U8 is connected with power line between motor, motor will turn by encoder, speed probe
Fast signal sends control system to；Control system synthesis given rotating speed, voltage, current signal and feedback rotating speed, voltage, electric current are believed
Number space vector pulse width modulation module is input to, calculates the dutycycle of space vector modulation, arteries and veins is exported by optical-electrical converter
Drive signal is rushed to be connected with three-phase bridge voltage source inverter to pulse driving device, pulse driving device, it is characterised in that
Compensation device U3 when also including dead, compensating module and Novel Filter when compensation device U3 includes dead when described dead；Mended when dead
Repay device U3 input connection current sensor U8, output end connection DSP control system U4；
Described Novel Filter FIRωTransmission function for example following formula represent：
In formula：k rFor gain,ω cutFor cut-off frequency,ω mFor electric angular frequency, s is complex variable.
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